NUCLEO_F103RB: Add pwmout api + change timers for ticker

Author: bcostm

libraries/mbed/targets/hal/TARGET_STM/TARGET_NUCLEO_F103RB/PeripheralNames.h

@@ -46,14 +46,10 @@ typedef enum {
     I2C_2 = (int)I2C2_BASE
 } I2CName;
 
-// typedef enum {
-    // PWM_1 = 1,
-    // PWM_2,
-    // PWM_3,
-    // PWM_4,
-    // PWM_5,
-    // PWM_6
-// } PWMName;
+typedef enum {
+    PWM_2 = (int)TIM2_BASE,
+    PWM_3 = (int)TIM3_BASE
+} PWMName;
 
 typedef enum {
      CAN_1 = (int)CAN1_BASE

libraries/mbed/targets/hal/TARGET_STM/TARGET_NUCLEO_F103RB/device.h

@@ -35,7 +35,7 @@
 
 #define DEVICE_RTC              0
 
-#define DEVICE_PWMOUT           0
+#define DEVICE_PWMOUT           1
 
 //=======================================
 

libraries/mbed/targets/hal/TARGET_STM/TARGET_NUCLEO_F103RB/objects.h

@@ -66,10 +66,12 @@ struct i2c_s {
     I2CName i2c;
 };
 
-//struct pwmout_s {
-//    __IO uint32_t *MR;
-//    PWMName pwm;
-//};
+struct pwmout_s {
+    PWMName pwm;
+    PinName pin;
+    uint32_t period;
+    uint32_t pulse;
+};
 
 #include "gpio_object.h"
 

libraries/mbed/targets/hal/TARGET_STM/TARGET_NUCLEO_F103RB/pinmap.c

@@ -17,13 +17,14 @@
 #include "error.h"
 
 // Alternate-function mapping
-// TODO: add lines if needed...
 static const uint32_t AF_mapping[] = {
-  0,                 // 0 = No AF
-  GPIO_Remap_SPI1,   // 1
-  GPIO_Remap_I2C1,   // 2
-  GPIO_Remap_USART1, // 3
-  GPIO_Remap_USART2  // 4
+  0,                   // 0 = No AF
+  GPIO_Remap_SPI1,     // 1
+  GPIO_Remap_I2C1,     // 2
+  GPIO_Remap_USART1,   // 3
+  GPIO_Remap_USART2,   // 4
+  GPIO_FullRemap_TIM2, // 5
+  GPIO_FullRemap_TIM3  // 6
 };
 
 /**
@@ -42,8 +43,9 @@ void pin_function(PinName pin, int data) {
     uint32_t port_index = (pin_number >> 4);
     GPIO_TypeDef *gpio  = ((GPIO_TypeDef *)(GPIOA_BASE + (port_index << 10)));
 
-    // Enable GPIO clock
+    // Enable GPIO and AFIO clocks
     RCC_APB2PeriphClockCmd((uint32_t)(RCC_APB2Periph_GPIOA << port_index), ENABLE);
+    RCC_APB2PeriphClockCmd(RCC_APB2Periph_AFIO, ENABLE);
 
     // Configure GPIO
     GPIO_InitTypeDef GPIO_InitStructure;
@@ -53,10 +55,18 @@ void pin_function(PinName pin, int data) {
     GPIO_Init(gpio, &GPIO_InitStructure);
 
     // Configure Alternate Function
-    if ((afnum > 0) && (afnum < 5)) {
-      RCC_APB2PeriphClockCmd(RCC_APB2Periph_AFIO, ENABLE);
-      GPIO_PinRemapConfig(AF_mapping[afnum], ENABLE);
+    if (afnum > 0) {
+        GPIO_PinRemapConfig(AF_mapping[afnum], ENABLE);
+    }
+    
+    // Disconnect JTAG-DP + SW-DP signals.
+    // Warning: Need to reconnect under reset
+    if ((pin == PA_13) || (pin == PA_14)) {
+        GPIO_PinRemapConfig(GPIO_Remap_SWJ_Disable, ENABLE);
     }
+    if ((pin == PA_15) || (pin == PB_3) || (pin == PB_4)) {
+        GPIO_PinRemapConfig(GPIO_Remap_SWJ_JTAGDisable, ENABLE);
+    }    
 }
 
 /**

libraries/mbed/targets/hal/TARGET_STM/TARGET_NUCLEO_F103RB/pwmout_api.c

@@ -0,0 +1,163 @@
+/* mbed Microcontroller Library
+ * Copyright (c) 2006-2013 ARM Limited
+ *
+ * Licensed under the Apache License, Version 2.0 (the "License");
+ * you may not use this file except in compliance with the License.
+ * You may obtain a copy of the License at
+ *
+ *     http://www.apache.org/licenses/LICENSE-2.0
+ *
+ * Unless required by applicable law or agreed to in writing, software
+ * distributed under the License is distributed on an "AS IS" BASIS,
+ * WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
+ * See the License for the specific language governing permissions and
+ * limitations under the License.
+ */
+#include "pwmout_api.h"
+
+#include "cmsis.h"
+#include "pinmap.h"
+#include "error.h"
+
+// Only TIM2 and TIM3 can be used (TIM1 and TIM4 are used by the us_ticker)
+static const PinMap PinMap_PWM[] = {
+    // TIM2
+    {PA_2,  PWM_2, STM_PIN_DATA(GPIO_Mode_AF_PP, 0)}, // TIM2_CH3 OK
+    {PA_3,  PWM_2, STM_PIN_DATA(GPIO_Mode_AF_PP, 0)}, // TIM2_CH4 OK
+    // TIM2 remap
+    {PA_15, PWM_2, STM_PIN_DATA(GPIO_Mode_AF_PP, 5)}, // TIM2r_CH1 FAIL
+    {PB_3,  PWM_2, STM_PIN_DATA(GPIO_Mode_AF_PP, 5)}, // TIM2r_CH2 FAIL - ARDUINO D3
+    {PB_10, PWM_2, STM_PIN_DATA(GPIO_Mode_AF_PP, 5)}, // TIM2r_CH3 OK - ARDUINO D6
+    {PB_11, PWM_2, STM_PIN_DATA(GPIO_Mode_AF_PP, 5)}, // TIM2r_CH4 OK
+    // TIM3
+    {PA_6,  PWM_3, STM_PIN_DATA(GPIO_Mode_AF_PP, 0)}, // TIM3_CH1 OK
+    {PA_7,  PWM_3, STM_PIN_DATA(GPIO_Mode_AF_PP, 0)}, // TIM3_CH2 OK - ARDUINO D11
+    {PB_1,  PWM_3, STM_PIN_DATA(GPIO_Mode_AF_PP, 0)}, // TIM3_CH4 OK
+    // TIM3 remap
+    {PB_4,  PWM_3, STM_PIN_DATA(GPIO_Mode_AF_PP, 6)}, // TIM3r_CH1 FAIL - ARDUINO D5
+    {PC_6,  PWM_3, STM_PIN_DATA(GPIO_Mode_AF_PP, 6)}, // TIM3r_CH1 OK
+    {PC_7,  PWM_3, STM_PIN_DATA(GPIO_Mode_AF_PP, 6)}, // TIM3r_CH2 OK - ARDUINO D9
+    {PB_5,  PWM_3, STM_PIN_DATA(GPIO_Mode_AF_PP, 6)}, // TIM3r_CH2 FAIL - Bug confirmed in ES
+    {PC_8,  PWM_3, STM_PIN_DATA(GPIO_Mode_AF_PP, 6)}, // TIM3r_CH3 OK
+    {PC_9,  PWM_3, STM_PIN_DATA(GPIO_Mode_AF_PP, 6)}, // TIM3r_CH4 OK
+    {NC,    NC,    0}
+};
+
+void pwmout_init(pwmout_t* obj, PinName pin) {  
+    // Get the peripheral name from the pin and assign it to the object
+    obj->pwm = (PWMName)pinmap_peripheral(pin, PinMap_PWM);
+  
+    if (obj->pwm == (PWMName)NC) {
+        error("PWM pinout mapping failed");
+    }
+    
+    // Enable TIM clock
+    if (obj->pwm == PWM_2) RCC_APB1PeriphClockCmd(RCC_APB1Periph_TIM2, ENABLE);
+    if (obj->pwm == PWM_3) RCC_APB1PeriphClockCmd(RCC_APB1Periph_TIM3, ENABLE);
+ 
+    // Configure GPIO
+    pinmap_pinout(pin, PinMap_PWM);
+    
+    obj->pin = pin;
+    obj->period = 0;
+    obj->pulse = 0;
+    
+    pwmout_period_us(obj, 20000); // 20 ms per default
+}
+
+void pwmout_free(pwmout_t* obj) {
+    TIM_TypeDef *tim = (TIM_TypeDef *)(obj->pwm);
+    TIM_DeInit(tim);
+}
+
+void pwmout_write(pwmout_t* obj, float value) {
+    TIM_TypeDef *tim = (TIM_TypeDef *)(obj->pwm);
+    TIM_OCInitTypeDef TIM_OCInitStructure;
+  
+    if (value < 0.0) {
+        value = 0.0;
+    } else if (value > 1.0) {
+        value = 1.0;
+    }
+
+    //while(TIM_GetFlagStatus(tim, TIM_FLAG_Update) == RESET);
+    //TIM_ClearFlag(tim, TIM_FLAG_Update);
+    
+    obj->pulse = (uint32_t)((float)obj->period * value);
+    
+    TIM_OCInitStructure.TIM_OCMode = TIM_OCMode_PWM1;
+    TIM_OCInitStructure.TIM_OutputState = TIM_OutputState_Enable;
+    TIM_OCInitStructure.TIM_Pulse = obj->pulse;
+    TIM_OCInitStructure.TIM_OCPolarity = TIM_OCPolarity_High;
+
+    if ((obj->pin == PA_6) || (obj->pin == PA_15) || (obj->pin == PB_4) || (obj->pin == PC_6)) { // TIM Channel 1
+        TIM_OC1PreloadConfig(tim, TIM_OCPreload_Enable);
+        TIM_OC1Init(tim, &TIM_OCInitStructure);
+    }
+
+    if ((obj->pin == PA_7) || (obj->pin == PB_3) || (obj->pin == PB_5) || (obj->pin == PC_7)) { // TIM Channel 2
+        TIM_OC2PreloadConfig(tim, TIM_OCPreload_Enable);
+        TIM_OC2Init(tim, &TIM_OCInitStructure);
+    }
+
+    if ((obj->pin == PA_2) || (obj->pin == PB_10) || (obj->pin == PC_8)) { // TIM Channel 3
+        TIM_OC3PreloadConfig(tim, TIM_OCPreload_Enable);
+        TIM_OC3Init(tim, &TIM_OCInitStructure);
+    }
+
+    if ((obj->pin == PA_3) || (obj->pin == PB_1) || (obj->pin == PB_11) || (obj->pin == PC_9)) { // TIM Channel 4
+        TIM_OC4PreloadConfig(tim, TIM_OCPreload_Enable);
+        TIM_OC4Init(tim, &TIM_OCInitStructure);
+    }
+}
+
+float pwmout_read(pwmout_t* obj) {
+    float value = 0;
+    if (obj->period > 0) {
+        value = (float)(obj->pulse) / (float)(obj->period);
+    }
+    return ((value > 1.0) ? (1.0) : (value));
+}
+
+void pwmout_period(pwmout_t* obj, float seconds) {
+    pwmout_period_us(obj, seconds * 1000000.0f);
+}
+
+void pwmout_period_ms(pwmout_t* obj, int ms) {
+    pwmout_period_us(obj, ms * 1000);
+}
+
+void pwmout_period_us(pwmout_t* obj, int us) {
+    TIM_TypeDef *tim = (TIM_TypeDef *)(obj->pwm);
+    TIM_TimeBaseInitTypeDef TIM_TimeBaseStructure;
+    float dc = pwmout_read(obj);
+
+    TIM_Cmd(tim, DISABLE);  
+    
+    obj->period = us;
+  
+    TIM_TimeBaseStructure.TIM_Period = obj->period - 1;
+    TIM_TimeBaseStructure.TIM_Prescaler = (uint16_t)(SystemCoreClock / 1000000) - 1; // 1 µs tick
+    TIM_TimeBaseStructure.TIM_ClockDivision = 0;
+    TIM_TimeBaseStructure.TIM_CounterMode = TIM_CounterMode_Up;
+    TIM_TimeBaseInit(tim, &TIM_TimeBaseStructure);
+
+    // Set duty cycle again
+    pwmout_write(obj, dc);
+  
+    TIM_ARRPreloadConfig(tim, ENABLE);    
+    TIM_Cmd(tim, ENABLE);
+}
+
+void pwmout_pulsewidth(pwmout_t* obj, float seconds) {
+    pwmout_pulsewidth_us(obj, seconds * 1000000.0f);
+}
+
+void pwmout_pulsewidth_ms(pwmout_t* obj, int ms) {
+    pwmout_pulsewidth_us(obj, ms * 1000);
+}
+
+void pwmout_pulsewidth_us(pwmout_t* obj, int us) {
+    float value = (float)us / (float)obj->period;
+    pwmout_write(obj, value);
+}

libraries/mbed/targets/hal/TARGET_STM/TARGET_NUCLEO_F103RB/us_ticker.c

@@ -27,65 +27,66 @@ void us_ticker_init(void) {
     if (us_ticker_inited) return;
     us_ticker_inited = 1;
 
-    // Enable Timer clock
-    RCC_APB1PeriphClockCmd((RCC_APB1Periph_TIM2 | RCC_APB1Periph_TIM3), ENABLE);
-
+    // Enable Timers clock
+    RCC_APB2PeriphClockCmd(RCC_APB2Periph_TIM1, ENABLE);
+    RCC_APB1PeriphClockCmd(RCC_APB1Periph_TIM4, ENABLE);
+  
     // Time base configuration
-    // TIM2 is used as "master", "TIM3" as "slave". TIM3 is clocked by TIM2.
+    // TIM1 is used as "master", "TIM4" as "slave". TIM4 is clocked by TIM1.
     TIM_TimeBaseStructure.TIM_Period = 0xFFFF;
     TIM_TimeBaseStructure.TIM_Prescaler = (uint16_t)(SystemCoreClock / 1000000) - 1; // 1 µs tick
     TIM_TimeBaseStructure.TIM_ClockDivision = 0;
     TIM_TimeBaseStructure.TIM_CounterMode = TIM_CounterMode_Up;
-    TIM_TimeBaseInit(TIM2, &TIM_TimeBaseStructure);
+    TIM_TimeBaseInit(TIM1, &TIM_TimeBaseStructure);
     TIM_TimeBaseStructure.TIM_Prescaler = 0;
-    TIM_TimeBaseInit(TIM3, &TIM_TimeBaseStructure);  
+    TIM_TimeBaseInit(TIM4, &TIM_TimeBaseStructure);  
 
     // Master timer configuration
     TIM_OCInitStructure.TIM_OCMode = TIM_OCMode_Toggle;
     TIM_OCInitStructure.TIM_OutputState = TIM_OutputState_Enable;
     TIM_OCInitStructure.TIM_Pulse = 0;
     TIM_OCInitStructure.TIM_OCPolarity = TIM_OCPolarity_High;
-    TIM_OC1Init(TIM2, &TIM_OCInitStructure);
-    TIM_SelectMasterSlaveMode(TIM2, TIM_MasterSlaveMode_Enable);
-    TIM_SelectOutputTrigger(TIM2, TIM_TRGOSource_Update);
+    TIM_OC1Init(TIM1, &TIM_OCInitStructure);
+    TIM_SelectMasterSlaveMode(TIM1, TIM_MasterSlaveMode_Enable);
+    TIM_SelectOutputTrigger(TIM1, TIM_TRGOSource_Update);
 
     // Slave timer configuration
-    TIM_SelectSlaveMode(TIM3, TIM_SlaveMode_Gated);
-    TIM_SelectInputTrigger(TIM3, TIM_TS_ITR1);
+    TIM_SelectSlaveMode(TIM4, TIM_SlaveMode_Gated);
+    TIM_SelectInputTrigger(TIM4, TIM_TS_ITR0);
 
     // Enable timers
-    TIM_Cmd(TIM3, ENABLE);
-    TIM_Cmd(TIM2, ENABLE);
+    TIM_Cmd(TIM4, ENABLE);
+    TIM_Cmd(TIM1, ENABLE);
 }
 
 uint32_t us_ticker_read() {
     uint32_t counter;
     if (!us_ticker_inited) us_ticker_init();
-    counter = (uint32_t)((uint32_t)TIM_GetCounter(TIM3) << 16) + (uint32_t)TIM_GetCounter(TIM2);
+    counter = (uint32_t)((uint32_t)TIM_GetCounter(TIM4) << 16) + (uint32_t)TIM_GetCounter(TIM1);
     return counter;
 }
 
 void us_ticker_set_interrupt(unsigned int timestamp) {
     if (timestamp > 0xFFFF) {
-        TIM_SetCompare1(TIM3, (uint16_t)((timestamp >> 16) & 0xFFFF));
-        TIM_ITConfig(TIM3, TIM_IT_CC1, ENABLE);
-        NVIC_SetVector(TIM3_IRQn, (uint32_t)us_ticker_irq_handler);
-        NVIC_EnableIRQ(TIM3_IRQn);      
+        TIM_SetCompare1(TIM4, (uint16_t)((timestamp >> 16) & 0xFFFF));
+        TIM_ITConfig(TIM4, TIM_IT_CC1, ENABLE);
+        NVIC_SetVector(TIM4_IRQn, (uint32_t)us_ticker_irq_handler);
+        NVIC_EnableIRQ(TIM4_IRQn);      
     }
     else {
-        TIM_SetCompare1(TIM2, (uint16_t)timestamp);
-        TIM_ITConfig(TIM2, TIM_IT_CC1, ENABLE);  
-        NVIC_SetVector(TIM2_IRQn, (uint32_t)us_ticker_irq_handler);
-        NVIC_EnableIRQ(TIM2_IRQn);
+        TIM_SetCompare1(TIM1, (uint16_t)timestamp);
+        TIM_ITConfig(TIM1, TIM_IT_CC1, ENABLE);  
+        NVIC_SetVector(TIM1_CC_IRQn, (uint32_t)us_ticker_irq_handler);
+        NVIC_EnableIRQ(TIM1_CC_IRQn);
     }
 }
 
 void us_ticker_disable_interrupt(void) {
-    TIM_ITConfig(TIM2, TIM_IT_CC1, DISABLE);
-    TIM_ITConfig(TIM3, TIM_IT_CC1, DISABLE);
+    TIM_ITConfig(TIM1, TIM_IT_CC1, DISABLE);
+    TIM_ITConfig(TIM4, TIM_IT_CC1, DISABLE);
 }
 
 void us_ticker_clear_interrupt(void) {
-    TIM_ClearITPendingBit(TIM2, TIM_IT_CC1);
-    TIM_ClearITPendingBit(TIM3, TIM_IT_CC1);
+    TIM_ClearITPendingBit(TIM1, TIM_IT_CC1);
+    TIM_ClearITPendingBit(TIM4, TIM_IT_CC1);
 }